CN210721145U - Unmanned vehicle - Google Patents

Abstract

The present specification discloses an unmanned vehicle. The unmanned vehicle in this specification includes a main control device, an auxiliary control device, a gate circuit, a plurality of execution devices, and a plurality of sensor devices. The auxiliary control equipment is electrically connected with the main control equipment through a state information link, and the auxiliary control equipment is electrically connected with the gating circuit through the control input end of the gating circuit. At least part of the actuator device and at least part of the sensor device of the unmanned vehicle in the present specification can be electrically connected to one of the main control device and the auxiliary control device through the gate circuit under the control of the auxiliary control device. When the working state of the main control equipment is abnormal, the gating circuit cuts off the electric connection between the main control equipment and at least part of execution equipment and at least part of sensor equipment, so that the potential safety hazard caused by the abnormal working state of the main control equipment to the running of the unmanned vehicle is avoided, and meanwhile, the auxiliary control equipment is electrically connected with at least part of execution equipment through the gating circuit so as to control the unmanned vehicle through the auxiliary control equipment.

Description

Unmanned vehicle

Technical Field

This description relates to the unmanned field of driving, especially relates to an unmanned car.

Background

At present, unmanned vehicles, as an important component of artificial intelligence technology, have increasingly prominent effects in social production and life, and become one of the main directions for guiding the development of intelligent transportation technology.

In the prior art, an unmanned vehicle includes a control device, a sensor device, and an execution device that are communicatively connected. Wherein the control device comprises a processing unit for processing data and making decisions based on the data; the sensor device comprises a sensor for collecting data, such as a laser radar, an image sensor; the execution equipment comprises an unmanned vehicle wire control chassis. The execution equipment sends the acquired data to the control equipment, so that the control equipment can control the working state of the unmanned vehicle according to the data acquired by the execution equipment. The control equipment senses the environmental information and makes a control decision through the sensor equipment, and the execution equipment generates a behavior according to the decision information and drives the unmanned vehicle to complete specific actions.

Therefore, by adopting the control method of the unmanned vehicle in the prior art, data generated by a plurality of sensor devices are processed by the control device, the calculation is intensive, and the specific calculation power requirement is high; in addition, the vehicle-mounted environment is severe, and the requirement on the reliability of the control equipment is high. If the unmanned vehicle control system fails or breaks down accidentally in the driving process, hidden dangers can be brought to driving safety.

SUMMERY OF THE UTILITY MODEL

The embodiment of the specification provides a control method of an unmanned vehicle and the unmanned vehicle, so as to partially solve the problems in the prior art.

The embodiment of the specification adopts the following technical scheme:

an unmanned vehicle, comprising: the system comprises a main control device, an auxiliary control device, a gating circuit, a plurality of execution devices and a plurality of sensor devices;

at least part of the execution devices and at least part of the sensor devices are electrically connected with the main control device and the auxiliary control device respectively through the gating circuit; the main control equipment and the auxiliary control equipment are electrically connected through a state information link;

the control input end of the gating circuit is electrically connected with the auxiliary control equipment and is used for controlling at least part of the execution equipment to be electrically connected with one of the main control equipment and the auxiliary control equipment according to the control signal of the auxiliary control equipment and controlling at least part of the sensor equipment to be electrically connected with one of the main control equipment and the auxiliary control equipment according to the control signal of the auxiliary control equipment;

the main control equipment is used for communicating with the execution equipment when the working state of the main control equipment is normal so as to control the unmanned vehicle through the execution equipment;

and the auxiliary control equipment is used for sending a control instruction to the execution equipment when the working state of the main control equipment is abnormal so as to control the unmanned vehicle through the execution equipment.

Optionally, the state information link includes a software state information link, the primary control device includes a software output end electrically connected to the software state information link, and the secondary control device includes a software input end electrically connected to the software state information link;

the software state information link is to: and transmitting the software state information which is generated by the main control equipment and used for representing the working state of the software of the main control equipment to the auxiliary control equipment.

Optionally, the status information link includes a hard-wired status information link, the primary control device includes a hardware output end electrically connected to the hard-wired status information link, and the secondary control device includes a hardware input end electrically connected to the hard-wired status information link;

the hardwired state information link is to: and transmitting the hard wire state information which is generated by the main control equipment and used for representing the working state of the hardware of the main control equipment to the auxiliary control equipment.

Optionally, the execution device includes: a drive-by-wire chassis; the sensor device includes: image sensors, lidar and range sensors;

the at least part of the sensor device comprises: at least one of an image sensor and a distance sensor.

Optionally, the gating circuit comprises: the first gating switch, the first bus and the second bus;

the image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch;

the wire control chassis is electrically connected with the main control equipment and the auxiliary control equipment through the first bus;

the distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

Optionally, the gating circuit comprises: a first gating switch, a second gating switch and a second bus;

the image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch;

the wire control chassis is electrically connected with the main control equipment and the auxiliary control equipment through the second gating switch;

the distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

Optionally, the gating circuit comprises: the device comprises a first gating switch, a control switch, a first bus and a second bus;

the image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch;

the wire control chassis is electrically connected with the auxiliary control equipment through the first bus, the wire control chassis is electrically connected with a first end of the control switch through the first bus, and a second end of the control switch is electrically connected with the main control equipment;

the distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

Optionally, the unmanned vehicle further comprises: the device comprises a serialization device, a first deserializing device and a second deserializing device;

the input end of the serialization equipment is electrically connected with the image sensor, and the output end of the serialization equipment is electrically connected with the third transmission end of the first gating switch;

the input end of the first deserializing device is electrically connected with the first transmission end of the first gating switch, and the output end of the first deserializing device is electrically connected with the main control device; the input end of the second deserializing device is electrically connected with the second transmission end of the first gating switch, and the output end of the second deserializing device is electrically connected with the auxiliary control device;

and the auxiliary control equipment controls the third transmission end of the first gating switch to be electrically connected with one of the first transmission end and the second transmission end.

Optionally, the unmanned vehicle further comprises: an electronic control unit;

and a first end of the electronic control unit is electrically connected with the distance sensor, and a second end of the electronic control unit is electrically connected with the main control equipment and the auxiliary control equipment through the second bus.

Optionally, at least one of:

the safety level of the auxiliary control equipment is higher than that of the main control equipment;

the data processing capacity of the auxiliary control equipment is smaller than that of the main control equipment;

the sensor equipment comprises a laser radar which is electrically connected with the main control equipment.

The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:

the unmanned vehicle in the embodiment of the present specification includes a main control device, an auxiliary control device, a gate circuit, a plurality of execution devices, and a plurality of sensor devices. The auxiliary control equipment is electrically connected with the main control equipment through a state information link, and the auxiliary control equipment is electrically connected with the gating circuit through the control input end of the gating circuit. At least part of the execution device and at least part of the sensor device of the unmanned vehicle in the specification can be electrically connected with one of the main control device and the auxiliary control device through the gating circuit under the control of the auxiliary control device. When the working state of the main control equipment is abnormal, the gating circuit cuts off the communication between the main control equipment and at least part of execution equipment and between at least part of sensor equipment, and the main control equipment is prevented from making incorrect judgment according to the data sent by the sensor equipment under the abnormal working state, so that potential safety hazards caused by the abnormal working state of the main control equipment to the running of the unmanned vehicle are avoided. And when the working state of the main control equipment is abnormal, the auxiliary control equipment is electrically connected with at least part of the execution equipment through the gating circuit so as to control the unmanned vehicle through the auxiliary control equipment and avoid the phenomenon that the unmanned vehicle is out of control.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:

FIG. 1 is a schematic view of a portion of an unmanned vehicle according to one embodiment of the present disclosure;

FIG. 2 is a schematic view of a portion of an unmanned vehicle according to another embodiment of the present disclosure;

FIG. 3 is a schematic view of a portion of an unmanned vehicle according to another embodiment of the present disclosure;

fig. 4 is a partial structural schematic diagram of an exemplary secondary control device provided in an embodiment of the present specification.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the specification without making any creative effort belong to the protection scope of the specification.

The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.

Fig. 1 is a partial schematic structural diagram of an unmanned vehicle provided in an embodiment of the present specification. The unmanned vehicle in the illustrated embodiment includes: the system comprises a main control device, an auxiliary control device, a gating circuit, a plurality of execution devices and a plurality of sensor devices. At least some of the plurality of execution devices and at least some of the plurality of sensor devices are electrically connected to the main control device and the auxiliary control device, respectively, through the gate circuit. The main control device and the auxiliary control device are electrically connected through a state information link.

The control input end of the gating circuit is electrically connected with the auxiliary control device and is used for controlling at least part of the execution devices to be electrically connected with one of the main control device and the auxiliary control device according to the control signal of the auxiliary control device and controlling at least part of the sensor devices to be electrically connected with one of the main control device and the auxiliary control device according to the control signal of the auxiliary control device. The control input end of the gating circuit is only used for transmitting a control signal which is generated by the auxiliary control device and used for controlling the electric connection state of the gating circuit. The control input end of the gating circuit cannot be used for realizing the electric connection between the main control device and the auxiliary control device and the execution device and the sensor device.

And the main control equipment is used for communicating with the sensor equipment and the execution equipment through the gating circuit when the working state of the main control equipment is normal so as to receive data of the sensor equipment and control the unmanned vehicle through the execution equipment. And the auxiliary control equipment is used for sending a control instruction to at least part of the execution equipment through the gating circuit when the working state of the main control equipment is abnormal so as to control the unmanned vehicle through the execution equipment.

In this specification, a main control device is a device having the attribute of a computer. The main control device may have hardware such as a CPU, a System On Chip (SOC), a motherboard, and an interface, and may be loaded with software such as an operating System. Software and hardware in the main control device cooperate to realize control and management of the execution device and to realize processing of data sent by the sensor device. The main control device can be electrically connected with the gating circuit through a bus, a coaxial cable and other data transmission devices, and further electrically connected with the sensor device and the execution device through the gating circuit, so that the communication between the main control device and the sensor device and between the main control device and the execution device is realized.

Also, the secondary control device is a device having a calculation attribute. The auxiliary control equipment can be electrically connected with the main control equipment through at least one link, and receives the state information sent by the main control equipment through the at least one link.

The state information may be generated by the master control device in real time or periodically, and the state information may be used to characterize the operating state of the master control device. The operating state of the main control device may include abnormal and normal. In practical use, the operating state may express a plurality of meanings, for example, the operating state may be used to express a degree of response of the main control device to data sent by the sensor device and the execution device, if the degree of response is slow, the operating state of the main control device may be abnormal, and if the degree of response is fast, it indicates that the main control device is in a normal operating state.

And after receiving the state information sent by the main control equipment, the auxiliary control equipment determines whether the working state of the main control equipment is normal or not according to the state information. And if the working state of the main control equipment is abnormal, the auxiliary control equipment controls the gating circuit to disconnect the electric connection between the main control equipment and at least part of the sensor equipment and disconnect the electric connection between the main control equipment and at least part of the execution equipment.

Therefore, with the unmanned vehicle in the embodiments of the present specification, when the main control device of the unmanned vehicle is abnormal, the main control device can be switched out from the control circuit of the unmanned vehicle, so as to prevent the main control device from continuously receiving data of the sensor device and the execution device and making an erroneous judgment in an abnormal operating state, and further prevent the unmanned vehicle from driving according to the erroneous judgment.

The auxiliary control device can be electrically connected with the at least one sensor device and/or the at least one execution device through the gating circuit when the main control device is electrically disconnected with the at least one sensor device and the at least one execution device through the gating circuit, so that the auxiliary control device can send a control instruction to the at least one execution device through the gating circuit, and then the at least one execution device works according to the control instruction.

The execution device that can be electrically connected to the secondary control device may be: and when the working state of the main control device is abnormal, one or more execution devices electrically disconnected with the main control device. When the main control device is switched out from the control circuit of the unmanned vehicle, the auxiliary control device can timely take over at least part of the execution devices electrically connected with the main control device when the main control device works normally. Furthermore, when the working state of the main control device is abnormal, the auxiliary control device can at least partially realize the management function of at least partially executing the device.

The unmanned vehicle described in this specification will be described in detail below.

In this specification, when the operating state of the main control device is normal, the sensor device electrically connected to the main control device includes: image sensor, lidar and range sensor, the executive equipment who is connected with main control equipment electricity includes: drive-by-wire chassis. When the operating state of the main control device is abnormal, the sensor device electrically connected to the auxiliary control device includes: at least one of an image sensor and a distance sensor; the execution device communicating with the secondary control device includes: drive-by-wire chassis.

It can be seen that the unmanned vehicle in the embodiments of the present description may include at least one sensor device (for example, a laser radar), and when the working state of the main industrial control device is abnormal, the sensor device disconnects communication with the main industrial control device under the control of the auxiliary industrial control device, but the sensor device does not establish communication with the auxiliary industrial control device. The amount of data generated in the working process of the laser radar is large, and a special communication link is often needed for data transmission. By the method and the unmanned vehicle adopting the method in the embodiment of the specification, the complex communication link can be prevented from being set for the auxiliary industrial control equipment, the structural design burden of the unmanned vehicle is reduced, and the transmission pressure of the communication link of the unmanned vehicle is reduced; and moreover, the auxiliary industrial control equipment can be ensured to have enough resources to provide data processing capacity for power parts (such as a drive-by-wire chassis) of the unmanned vehicle when the working state of the main industrial control unit is abnormal.

The unmanned vehicle in the embodiment of the present specification may further include at least one sensor device (e.g., a camera), and when the operating state of the main control device is abnormal, the sensor device is disconnected from the main control device under the control of the auxiliary control device, and the sensor device is switched to establish communication with the auxiliary control device. In fact, gating control is realized on the coaxial cable side between the camera and the deserializer in serial transmission instead of on the CSI bus side after deserialization, and mainly serial signals are particularly suitable for long-distance small-wiring-harness application, and multiplexing of the sensor is naturally realized through the scheme. By the aid of the method and the unmanned vehicle adopting the method in the embodiment of the specification, complex communication links can be prevented from being set for auxiliary control equipment, and circuit design burden of the unmanned vehicle is relieved; and moreover, the auxiliary control equipment can be ensured to have enough resources to provide data processing capacity for power parts (such as a drive-by-wire chassis) of the unmanned vehicle when the working state of the main control equipment is abnormal.

In an alternative embodiment of the present description, as shown in fig. 1, the gating circuit includes: the first gate switch, the first bus and the second bus. The image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch. The drive-by-wire chassis is electrically connected with the main control equipment and the auxiliary control equipment through the first bus. The distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

When the working state of the main control equipment is normal, the main control equipment sends a control instruction generated by the main control equipment to the wire control chassis through the first bus. And when the working state of the main control equipment is abnormal, the auxiliary control equipment sends the control instruction generated by the auxiliary control equipment to the linear control chassis through the first bus. Optionally, the control command generated by the control device and the control command generated by the auxiliary control device have different information source addresses, and the drive-by-wire chassis may determine the source of the information according to the source address of the information transmitted from the first bus.

When the auxiliary control device finds that the working state of the main control device is abnormal, the auxiliary control device sends a switching instruction to the drive-by-wire chassis through the first bus (or a link for transmitting the switching instruction and connecting the auxiliary control device and the drive-by-wire chassis), informs the drive-by-wire chassis to not receive the control instruction sent by the source address of the main control device any more, and further disconnects the communication between the main control device and the drive-by-wire chassis. At this time, the auxiliary control device may be electrically connected to the chassis-by-wire via the first bus, and may further communicate with the chassis-by-wire via the first bus.

Further, when the working state of the main control equipment is normal, the distance sensor can send the collected data to the main control equipment through the second bus. When the working state of the main control device is abnormal, the auxiliary control device sends a switching instruction to the distance sensor through a second bus (or a link for transmitting the switching instruction and connecting the auxiliary control device and the distance sensor), and informs the distance sensor to send data acquired by the distance sensor to the auxiliary control device.

As shown in fig. 1 to 3, in an alternative embodiment of the present disclosure, the unmanned vehicle further includes: an Electronic Control Unit (ECU); and a first end of the ECU is electrically connected with the distance sensor, and a second end of the ECU is electrically connected with the main control equipment and the auxiliary control equipment through the second bus. The distance sensor transmits the data it collects to the ECU regardless of the operating state of the main control device. When the working state of the main control equipment is normal, the ECU can send the data acquired by the main control equipment to the main control equipment through the second bus. When the working state of the main control device is abnormal, the auxiliary control device sends a switching instruction to the ECU through a second bus (or a link for transmitting the switching instruction and connecting the auxiliary control device and the ECU), and informs the ECU to send data collected by the distance sensor to the auxiliary control device.

Wherein, the first bus and the second bus can be both CAN (controller Area network) bus.

The first gate switch in this specification includes a first transmission terminal connected to the main control device, a second transmission terminal connected to the auxiliary control device, and a third transmission terminal connected to the image sensor. The third transmission end is electrically connected with one of the first transmission end and the second transmission end in a switchable manner, so that the connection state of the image sensor, the main control device and the auxiliary control device can be adjusted through the connection state of the third transmission end, the first transmission end and the second transmission end.

Further, the unmanned vehicle in this specification may further include: the device comprises a serialization device, a first deserializing device and a second deserializing device.

The input end of the serialization equipment is electrically connected with the image sensor, and the output end of the serialization equipment is electrically connected with the third transmission end of the first gating switch. The input end of the first deserializing device is electrically connected with the first transmission end of the first gating switch, and the output end of the first deserializing device is electrically connected with the main control device. The input end of the second deserializing device is electrically connected with the second transmission end of the first gating switch, and the output end of the second deserializing device is electrically connected with the auxiliary control device. The auxiliary control device controls the third transmission end of the first gating switch to be electrically connected with one of the first transmission end and the second transmission end, and further can adjust the connection state of the image sensor, the main control device and the auxiliary control device by adjusting the connection state of the third transmission end of the first gating switch, the first transmission end and the second transmission end.

In an alternative embodiment of the present description, as shown in fig. 2, the gating circuit includes: a first gate switch, a second gate switch and a second bus.

The image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch. The wire control chassis is electrically connected with the main control equipment and the auxiliary control equipment through the second gating switch. The distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

The second gating switch comprises a first transmission end electrically connected with the main control device, a second transmission end connected with the auxiliary control device and a third transmission end electrically connected with the drive-by-wire chassis. The third transmission end is connected with one of the first transmission end and the second transmission end in a switchable manner, so that the connection state of the drive-by-wire chassis, the main control device and the auxiliary control device can be adjusted by adjusting the connection state of the third transmission end of the second gating switch, the first transmission end and the second transmission end.

In an alternative embodiment of the present description, as shown in fig. 3, the gating circuit includes: the device comprises a first gating switch, a control switch, a first bus and a second bus. The image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch. The wire control chassis is electrically connected with the auxiliary control equipment through the first bus, the wire control chassis is electrically connected with the first end of the control switch through the first bus, and the second end of the control switch is electrically connected with the main control equipment. The distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus. The first end of the control switch is electrically connected with the second end of the control switch in an on/off manner. The distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

The state of electrical connection between the first terminal and the second terminal of the control switch is controlled by the auxiliary control device. When the working state of the main control equipment is normal, the auxiliary control equipment controls the first end and the second end of the control switch to be electrically connected, the main control equipment is electrically connected with the wire control chassis, and the auxiliary control equipment does not send a control instruction to the wire control chassis; when the working state of the main control equipment is abnormal, the auxiliary control equipment controls the first end and the second end of the control switch to be disconnected, the main control equipment is electrically disconnected with the wire control chassis, the auxiliary control equipment is electrically connected with the wire control chassis, and the auxiliary control equipment sends a control instruction to the wire control chassis.

Of course, the unmanned vehicle in this specification may include at least one device whose electrical connection status with the main control device is not limited by the operating state of the main control device (i.e., whose communication status with the main control device is not controlled by the gate circuit), and the device may maintain electrical connection with the main control device even if the operating state of the main control device is abnormal. Such as a Telematics device for unmanned vehicles (T-Box). The T-Box is always electrically connected with the main control equipment, so that when the working state of the main control equipment is abnormal, the main control equipment can still communicate with the background server through the telematics equipment, and timely upload the state information, the diagnosis information (information obtained by self-identifying the working state of the main control equipment) and the like of the main control equipment to the background server.

Furthermore, there may be at least one sensor device (e.g., lidar) that maintains electrical connection with the main control device when the operating state of the main control device is abnormal. Due to the abnormality of the main control device, the data sent by the sensor device to the main control device cannot be processed or cannot be processed normally. At this time, the main control device is already disconnected from other execution devices, and even if the part of the data received by the main control device is processed to a certain degree, the information generated after the processing is not sent to other execution devices, so that the main control device can still effectively keep isolation in the control circuit.

In this specification, the state information may include at least one of software state information of the main control device and hard-wired state information of the main control device.

The state information link comprises at least one of a software state information link and a hard-wired state information link. The main control device comprises a software output end electrically connected with the software state information link, and the auxiliary control device comprises a software input end electrically connected with the software state information link. The main control equipment comprises a hardware output end electrically connected with the hard wire state information link, and the auxiliary control equipment comprises a hardware input end electrically connected with the hard wire state information link.

The software state information link is to: and transmitting the software state information which is generated by the main control equipment and used for representing the working state of the software of the main control equipment to the auxiliary control equipment. The hardwired state information link is to: and transmitting the hard wire state information which is generated by the main control equipment and used for representing the working state of the hardware of the main control equipment to the auxiliary control equipment.

The software state information can be used for representing the software working state of the main control device. The software state information may be: the software system of the main control device forms information according to a preset state protocol rule, for example, the software state information may be generated according to the state protocol rule, and when the software system of the main control device is abnormal, the software system cannot generate normal software state information according to the preset state protocol rule.

Specifically, after receiving the software state information sent by the main control device, the auxiliary control device determines a state protocol rule corresponding to the software state information according to the software state information of the main control device. And then determining the matching degree of the state protocol rule and a standard state protocol rule prestored in the auxiliary control equipment so as to determine the software working state of the main control equipment. And if the state protocol rule determined according to the software state information of the main control equipment is not matched with the pre-stored state protocol rule, determining that the software working state of the main control equipment is abnormal.

After the auxiliary control equipment receives the software state information sent by the main control equipment, the software working state of the main control equipment is determined according to the matching degree of the software state information of the main control equipment and the standard software state information pre-stored in the auxiliary control equipment. If the software state information of the main control device does not match the pre-stored standard software state information (for example, the state protocol rule of the main control device described in the software state information is greatly different from the corresponding state protocol rule described in the pre-stored standard software state information), it is determined that the software operating state of the main control device is abnormal.

The software state information may be transmitted from the primary control device to the secondary control device via a software state information link provided between the primary control device and the secondary control device. The primary control device is cooperatively provided with a software output end electrically connected with the software state information link (i.e., the software output end can output the software state information), and the secondary control device is cooperatively provided with a software input end electrically connected with the software state information link (i.e., the secondary control device can receive the software state information through the software input end).

The hard line status information may include at least one of a frequency, a phase, a pulse width, a duty cycle, and a waveform of a system clock signal of the master control device.

After receiving the hard-wire state information sent by the main control device, the auxiliary control device determines whether the hardware working state of the main control device is normal or not according to the matching degree of the hard-wire state information of the main control device and a standard hard-wire state information rule stored in advance. And if the hard-wire state information of the main control equipment is not matched with the standard hard-wire state information rule stored in advance, judging that the hardware working state of the main control equipment is abnormal.

Wherein the standard hard-wire state information saved in advance can be set by a user.

The hard-wired state information may be transmitted from the primary control device to the secondary control device via a hard-wired state information link provided between the primary control device and the secondary control device. The main control equipment can be provided with a hardware output end connected with the hard wire state information link in a matched manner, and the auxiliary control equipment can be provided with a hardware input end connected with the hard wire state information link in a matched manner. For example, the hardware Output may be an I/O Interface (Input/Output Interface) or a pwm (pulse width modulation) Interface.

In the embodiment of the present specification, when the state information of the main control device in the embodiment of the present specification includes both the software state information and the hard-wire state information, the auxiliary control device needs to comprehensively determine the operating state of the main control device according to the software state information and the hard-wire state information.

For example, if the software state information does not match with the pre-stored standard software state information, and the hard-line state information does not match with the pre-stored standard hard-line state information, that is, the software operating state and the hardware operating state of the main control device are both abnormal, it is determined that the current operating state of the main control device is abnormal, and the subsequent steps are performed according to the abnormal operating state of the main control device.

If the software working state and the hardware working state of the main control equipment are both normal, the current working state of the main control equipment is judged to be normal, the auxiliary control equipment continues to receive the state information sent by the main control equipment through the state information link, and the working state of the main control equipment is determined according to the state information sent by the main control equipment.

In the embodiment of the present specification, the safety level of the auxiliary control device is higher than that of the main control device, so that when the main control device of the unmanned vehicle is abnormal, the auxiliary control device with a higher safety level controls the unmanned vehicle, so that the unmanned vehicle can be safely driven as a primary target, and further expansion of disasters is avoided to a greater extent. The security Level may be divided according to an Automobile Security Integrity Level (ASIL).

Alternatively, the data processing capacity of the secondary control device may be less than the data processing capacity of the primary control device. The energy consumption of the auxiliary control device in the process of determining the working state of the main control device is low, and the influence on the energy supply of the unmanned vehicle can be avoided.

After the auxiliary control equipment is electrically connected with at least part of execution equipment, the auxiliary control equipment sends control instructions to the at least part of execution equipment through the power selection circuit, so that the at least part of execution equipment can operate according to the control instructions sent by the auxiliary control equipment, and the phenomenon that the unmanned vehicle is out of control is avoided. The control command may be command data stored in advance in the auxiliary control device, and for example, the control command may be command data for controlling the unmanned vehicle to travel at a reduced speed.

In addition, after the auxiliary control device disconnects the main control device from at least part of the execution devices and disconnects the main control device from at least part of the sensor row devices, the auxiliary control device can also take over at least part of the execution devices communicated with the main control device to replace the main control device to exert the management control function on the unmanned vehicle. Specifically, after the secondary control device takes over at least part of the sensor devices and the execution devices which are in communication with the main control device, the secondary control device receives data sent by the at least part of the sensor devices and the execution devices through the gating circuit, and determines a control instruction for controlling the unmanned vehicle according to the data sent by the at least part of the sensor devices and the execution devices. And then, controlling the unmanned vehicle to stop or decelerate according to the control instruction, and reporting the fault to a background server.

Optionally, after the electrical connection between the main control device and at least part of the sensor devices and the execution device is disconnected, the auxiliary control device continues to receive the state information sent by the main control device through the state information link, and continues to determine the working state of the main control device according to the state information sent by the main control device. And if the working state of the main control equipment is changed from abnormal to normal, the auxiliary control equipment restores the electric connection between the main control equipment and at least part of the sensor equipment and restores the electric connection between the main control equipment and at least part of the execution equipment. And the auxiliary control equipment does not receive the information sent by at least part of the execution equipment and the sensor equipment any longer so as to return the management and control authority of the unmanned vehicle to the main control equipment.

In an embodiment of the present specification, the main control device may include a first main control device and a second main control device. The first main control device and the second main control device have the same data processing capability.

When the working state of the first main control device is normal, the first main control device is electrically connected with each sensor device and the execution device through a gating circuit. The auxiliary control equipment receives first state information sent by first main control equipment, and determines the working state of the first main control equipment according to the first state information. If the working state of the first main control device is abnormal, controlling the gating circuit to disconnect the electric connection between the first main control device and at least part of the sensor devices and the execution devices; and controlling the gating circuit to establish electrical connection between the second main control device and at least part of the sensor devices and the execution devices, so that the second main control device can control the unmanned vehicle according to data sent by at least part of the sensor devices and the execution devices.

When the second main control device controls the unmanned vehicle, the auxiliary control device continues to receive the first state information sent by the first main control device through the first state information link, and determines the working state of the first main control device according to the first state information. If the working state of the first main control device is normal, the second main control device is electrically disconnected with at least part of the sensor devices and the execution devices through the gating circuit, and the first main control device is electrically connected with at least part of the sensor devices and at least part of the execution devices through the gating circuit, so that the first main control device can control the unmanned vehicle according to data sent by at least part of the sensor devices and at least part of the execution devices.

When the second main control device controls the unmanned vehicle, the auxiliary control device receives first state information sent by the first main control device through the first state information link and receives second state information sent by the second main control device through the second state information link; determining the working state of the first main control device according to the first state information; and determining the working state of the second main control equipment according to the second state information. And if the working state of the first main control device and the working state of the second main control device are both abnormal, the second main control device is electrically disconnected with at least part of the sensor devices and at least part of the execution devices through a gating circuit, and the auxiliary control device sends a control command to at least part of the execution devices through the gating circuit so as to control the unmanned vehicle.

The unmanned vehicle provided by the specification can be particularly applied to the field of delivery by using the unmanned vehicle, for example, the delivery scene of express delivery, takeaway and the like by using the unmanned vehicle. Specifically, in the above-described scenario, delivery may be performed using an autonomous vehicle fleet configured with a plurality of unmanned vehicles.

Based on the same idea, the embodiment of the present specification further provides a partial structure of a corresponding auxiliary control device of an unmanned vehicle, as shown in fig. 4.

The unmanned vehicle provided by the embodiment of the specification comprises a main control device, an auxiliary control device, a sensor device and an execution device. Fig. 4 is a partial structural schematic diagram of an auxiliary control device of an unmanned vehicle provided in an embodiment of the present specification; the auxiliary control apparatus includes:

a status information receiving module 200, configured to receive status information sent by the master control device;

a working state determining module 202, configured to determine a working state of the master control device according to the state information;

a communication switching module 204, configured to disconnect communication between the main control device and at least part of the sensor devices, and communication between the main control device and the execution device when the working state of the main control device is abnormal;

and the control module 206 is configured to send a control instruction to the execution device to control the unmanned vehicle.

The state information receiving module 200, the working state determining module 202, the communication switching module 204 and the control module 206 are electrically connected in sequence. The communication switching module 204 is electrically connected to the control input of the gating circuit. The communication switching module 204 is configured to generate a control signal to control an electrical connection state between the gating switch and the main control device and the auxiliary control device through the control signal, so that the gating circuit controls the at least part of the execution devices to be electrically connected to one of the main control device and the auxiliary control device according to the control signal of the communication switching module 204, and controls the at least part of the sensor devices to be electrically connected to one of the main control device and the auxiliary control device according to the control signal of the communication switching module 204.

Optionally, the operating state determination module 202 includes a software operating state determination sub-module. And the software working state determining submodule is used for determining the software working state of the main control equipment according to the matching degree of the software state information of the main control equipment and the pre-stored standard software state information.

Optionally, the operation state determination module 202 includes a hardware operation state determination sub-module. And the hardware working state determining submodule is used for determining the hardware working state of the main control equipment according to the matching degree of the hard wire state information of the main control equipment and the pre-stored standard hard wire state information.

Optionally, the operating state determining module 202 includes a determining sub-module. The judging submodule is used for judging whether the state information comprises software state information of the main control equipment or hard line state information of the main control equipment; and determining the working state of the main control equipment according to the state information. Specifically, the auxiliary control device determines the working state of the main control device according to the software state information and the hard-line state information respectively; and if one of the software working state and the hardware working state is abnormal, the auxiliary control equipment determines that the working state of the main control equipment is abnormal.

Optionally, the security level of the auxiliary control device is higher than the security level of the main control device, and/or the data processing capability of the auxiliary control device is smaller than the data processing capability of the main control device.

Optionally, when the operating state of the main control device is normal, the sensor device in communication with the main control device includes: at least one of an image sensor, a lidar, and a range sensor; the execution device communicating with the main control device includes: a drive-by-wire chassis;

when the operating state of the main control device is abnormal, the sensor device communicating with the main control device includes: at least one of an image sensor, a lidar, and a range sensor; the execution device communicating with the main control device includes: drive-by-wire chassis.

Optionally, the control module 206 comprises: unmanned vehicle control submodule. And the unmanned vehicle control sub-module is used for determining a control instruction for controlling the unmanned vehicle according to the data sent by at least part of the sensor equipment, controlling the unmanned vehicle to stop or run at a reduced speed according to the control instruction, and reporting a fault.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.

Claims (10)

1. An unmanned vehicle, comprising: the system comprises a main control device, an auxiliary control device, a gating circuit, a plurality of execution devices and a plurality of sensor devices;

at least part of the execution devices and at least part of the sensor devices are electrically connected with the main control device and the auxiliary control device respectively through the gating circuit; the main control equipment and the auxiliary control equipment are electrically connected through a state information link;

the control input end of the gating circuit is electrically connected with the auxiliary control equipment and is used for controlling at least part of the execution equipment to be electrically connected with one of the main control equipment and the auxiliary control equipment according to the control signal of the auxiliary control equipment and controlling at least part of the sensor equipment to be electrically connected with one of the main control equipment and the auxiliary control equipment according to the control signal of the auxiliary control equipment;

the main control equipment is used for communicating with the execution equipment when the working state of the main control equipment is normal so as to control the unmanned vehicle through the execution equipment;

and the auxiliary control equipment is used for sending a control instruction to the execution equipment when the working state of the main control equipment is abnormal so as to control the unmanned vehicle through the execution equipment.

2. The unmanned vehicle of claim 1, wherein the status information link comprises a software status information link, the primary control device comprises a software output electrically connected to the software status information link, and the secondary control device comprises a software input electrically connected to the software status information link;

the software state information link is to: and transmitting the software state information which is generated by the main control equipment and used for representing the working state of the software of the main control equipment to the auxiliary control equipment.

3. The drone vehicle of claim 1 or 2, wherein the status information link comprises a hard-wired status information link, the primary control device includes a hardware output electrically connected to the hard-wired status information link, the secondary control device includes a hardware input electrically connected to the hard-wired status information link;

the hardwired state information link is to: and transmitting the hard wire state information which is generated by the main control equipment and used for representing the working state of the hardware of the main control equipment to the auxiliary control equipment.

4. The drone vehicle of claim 1, wherein the execution device comprises: a drive-by-wire chassis; the sensor device includes: image sensors, lidar and range sensors;

the at least part of the sensor device comprises: at least one of an image sensor and a distance sensor.

5. The unmanned vehicle of claim 4, wherein the gating circuit comprises: the first gating switch, the first bus and the second bus;

the image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch;

the wire control chassis is electrically connected with the main control equipment and the auxiliary control equipment through the first bus;

the distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

6. The unmanned vehicle of claim 4, wherein the gating circuit comprises: a first gating switch, a second gating switch and a second bus;

the image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch;

the wire control chassis is electrically connected with the main control equipment and the auxiliary control equipment through the second gating switch;

the distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

7. The unmanned vehicle of claim 4, wherein the gating circuit comprises: the device comprises a first gating switch, a control switch, a first bus and a second bus;

the image sensor is electrically connected with the main control device and the auxiliary control device through the first gating switch;

the wire control chassis is electrically connected with the auxiliary control equipment through the first bus, the wire control chassis is electrically connected with a first end of the control switch through the first bus, and a second end of the control switch is electrically connected with the main control equipment;

the distance sensor is electrically connected with the main control device and the auxiliary control device through the second bus.

8. The unmanned vehicle of any of claims 5-7, further comprising: the device comprises a serialization device, a first deserializing device and a second deserializing device;

the input end of the serialization equipment is electrically connected with the image sensor, and the output end of the serialization equipment is electrically connected with the third transmission end of the first gating switch;

the input end of the first deserializing device is electrically connected with the first transmission end of the first gating switch, and the output end of the first deserializing device is electrically connected with the main control device; the input end of the second deserializing device is electrically connected with the second transmission end of the first gating switch, and the output end of the second deserializing device is electrically connected with the auxiliary control device;

and the auxiliary control equipment controls the third transmission end of the first gating switch to be electrically connected with one of the first transmission end and the second transmission end.

9. The unmanned vehicle of any of claims 5-7, further comprising: an electronic control unit;

and a first end of the electronic control unit is electrically connected with the distance sensor, and a second end of the electronic control unit is electrically connected with the main control equipment and the auxiliary control equipment through the second bus.

10. The drone vehicle of any one of claims 5 to 7, comprising at least one of:

the safety level of the auxiliary control equipment is higher than that of the main control equipment;

the data processing capacity of the auxiliary control equipment is smaller than that of the main control equipment;

the sensor equipment comprises a laser radar which is electrically connected with the main control equipment.

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